Related papers: Multimodal Sensing for Robot-Assisted Sub-Tissue F…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tactile sensors realize high-resolution, large-area tactile…
Contact-rich tasks continue to present many challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learning (IL) to perform contact-rich tasks that involve relative…
Humans are able to convey different messages using only touch. Equipping robots with the ability to understand social touch adds another modality in which humans and robots can communicate. In this paper, we present a social gesture…
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate tactile output, low mass, simple…
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…
This paper presents an approach for understanding the soft tissue behavior in surface contact with a probe scanning the tissue. The application domain is confocal microlaparoscopy, mostly used for imaging the outer surface of the organs in…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
Grasping under limited sensing remains a fundamental challenge for real-world robotic manipulation, as vision and high-resolution tactile sensors often introduce cost, fragility, and integration complexity. This work demonstrates that…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…